| 61 |
|
/** copy constructor */ |
| 62 |
|
SquareMatrix3(const SquareMatrix<Real, 3>& m) : SquareMatrix<Real, 3>(m) { |
| 63 |
|
} |
| 64 |
< |
|
| 64 |
> |
|
| 65 |
|
SquareMatrix3( const Vector3<Real>& eulerAngles) { |
| 66 |
|
setupRotMat(eulerAngles); |
| 67 |
|
} |
| 266 |
|
* @note since simple algorithm can be applied to inverse the 3 by 3 matrix, we hide the |
| 267 |
|
* implementation of inverse in SquareMatrix class |
| 268 |
|
*/ |
| 269 |
< |
SquareMatrix3<Real> inverse() { |
| 269 |
> |
SquareMatrix3<Real> inverse() const { |
| 270 |
|
SquareMatrix3<Real> m; |
| 271 |
|
double det = determinant(); |
| 272 |
|
if (fabs(det) <= oopse::epsilon) { |
| 436 |
|
v = v.transpose(); |
| 437 |
|
return ; |
| 438 |
|
} |
| 439 |
+ |
|
| 440 |
+ |
/** |
| 441 |
+ |
* Return the multiplication of two matrixes (m1 * m2). |
| 442 |
+ |
* @return the multiplication of two matrixes |
| 443 |
+ |
* @param m1 the first matrix |
| 444 |
+ |
* @param m2 the second matrix |
| 445 |
+ |
*/ |
| 446 |
+ |
template<typename Real> |
| 447 |
+ |
inline SquareMatrix3<Real> operator *(const SquareMatrix3<Real>& m1, const SquareMatrix3<Real>& m2) { |
| 448 |
+ |
SquareMatrix3<Real> result; |
| 449 |
+ |
|
| 450 |
+ |
for (unsigned int i = 0; i < 3; i++) |
| 451 |
+ |
for (unsigned int j = 0; j < 3; j++) |
| 452 |
+ |
for (unsigned int k = 0; k < 3; k++) |
| 453 |
+ |
result(i, j) += m1(i, k) * m2(k, j); |
| 454 |
+ |
|
| 455 |
+ |
return result; |
| 456 |
+ |
} |
| 457 |
+ |
|
| 458 |
|
typedef SquareMatrix3<double> Mat3x3d; |
| 459 |
|
typedef SquareMatrix3<double> RotMat3x3d; |
| 460 |
|
|
